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中文摘要：
针对2R平面欠驱动机器人的轨迹控制问题,提出了基于模糊理论的智能控制方法。相比于目前的控制方法,模糊控制不依赖于机器人动力学模型,实时计算量小,鲁棒性良好。搭建了2R欠驱动机器人试验装置及其控制系统,完成了机器人末端多种轨迹的跟踪试验。试验结果显示该方法具有较高的控制精度与优良的鲁棒特性。
英文摘要：
Based on fuzzy control theory,an intelligent method of controlling the trajectory of a 2R horizontal underactuated robot with a passive joint was presented. Compared with the current methods,fuzzy control method does not rely on the dynamic model of the robot. Furthermore, it has good real--time and robustness characteristics. A 2R underactuated robot experimental setup and its control system were developed. Tracking control of several trajectories of this robot was achieved by experiments. The results show that the proposed method has high precision for trajectory tracking and good robustness.
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